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<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pri-types">Private 类型</a> &#124;
<a href="#pri-methods">Private 成员函数</a> &#124;
<a href="#pri-attribs">Private 属性</a> &#124;
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<div class="title">pcl::registration::DataContainer&lt; PointT, NormalT &gt; 模板类 参考</div>  </div>
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<p><code>#include &lt;<a class="el" href="correspondence__rejection_8h_source.html">correspondence_rejection.h</a>&gt;</code></p>
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类 pcl::registration::DataContainer&lt; PointT, NormalT &gt; 继承关系图:</div>
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  <img src="classpcl_1_1registration_1_1_data_container.png" usemap="#pcl::registration::DataContainer_3C_20PointT_2C_20NormalT_20_3E_map" alt=""/>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:acbf077d20c83124fe915d5c172bbc2e4"><td class="memItemLeft" align="right" valign="top"><a id="acbf077d20c83124fe915d5c172bbc2e4"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_data_container.html#acbf077d20c83124fe915d5c172bbc2e4">DataContainer</a> (bool needs_normals=false)</td></tr>
<tr class="memdesc:acbf077d20c83124fe915d5c172bbc2e4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
<tr class="separator:acbf077d20c83124fe915d5c172bbc2e4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a596f25043f03daced9e226e8fcf948d3"><td class="memItemLeft" align="right" valign="top"><a id="a596f25043f03daced9e226e8fcf948d3"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_data_container.html#a596f25043f03daced9e226e8fcf948d3">~DataContainer</a> ()</td></tr>
<tr class="memdesc:a596f25043f03daced9e226e8fcf948d3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty destructor <br /></td></tr>
<tr class="separator:a596f25043f03daced9e226e8fcf948d3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4b1172f7c0c0fecfdde3a1e47ecb0050"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_data_container.html#a4b1172f7c0c0fecfdde3a1e47ecb0050">setInputCloud</a> (const PointCloudConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a4b1172f7c0c0fecfdde3a1e47ecb0050"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. <br  />
  <a href="classpcl_1_1registration_1_1_data_container.html#a4b1172f7c0c0fecfdde3a1e47ecb0050">更多...</a><br /></td></tr>
<tr class="separator:a4b1172f7c0c0fecfdde3a1e47ecb0050"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8595c4371a910c07eccf3bde8d5d0596"><td class="memItemLeft" align="right" valign="top"><a id="a8595c4371a910c07eccf3bde8d5d0596"></a>
PointCloudConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_data_container.html#a8595c4371a910c07eccf3bde8d5d0596">getInputCloud</a> ()</td></tr>
<tr class="memdesc:a8595c4371a910c07eccf3bde8d5d0596"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the input point cloud dataset target. <br /></td></tr>
<tr class="separator:a8595c4371a910c07eccf3bde8d5d0596"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8882a16f05489b2c3c8d8a27584c4bf2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_data_container.html#a8882a16f05489b2c3c8d8a27584c4bf2">setInputSource</a> (const PointCloudConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a8882a16f05489b2c3c8d8a27584c4bf2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. <br  />
  <a href="classpcl_1_1registration_1_1_data_container.html#a8882a16f05489b2c3c8d8a27584c4bf2">更多...</a><br /></td></tr>
<tr class="separator:a8882a16f05489b2c3c8d8a27584c4bf2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6a905b915ff700820846d26925575b25"><td class="memItemLeft" align="right" valign="top"><a id="a6a905b915ff700820846d26925575b25"></a>
PointCloudConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_data_container.html#a6a905b915ff700820846d26925575b25">getInputSource</a> ()</td></tr>
<tr class="memdesc:a6a905b915ff700820846d26925575b25"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the input point cloud dataset target. <br /></td></tr>
<tr class="separator:a6a905b915ff700820846d26925575b25"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4b79fcde4a6751834220166377231b8f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_data_container.html#a4b79fcde4a6751834220166377231b8f">setInputTarget</a> (const PointCloudConstPtr &amp;target)</td></tr>
<tr class="memdesc:a4b79fcde4a6751834220166377231b8f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. <br  />
  <a href="classpcl_1_1registration_1_1_data_container.html#a4b79fcde4a6751834220166377231b8f">更多...</a><br /></td></tr>
<tr class="separator:a4b79fcde4a6751834220166377231b8f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad4ea9078a12ea9db7dca9686523b035a"><td class="memItemLeft" align="right" valign="top"><a id="ad4ea9078a12ea9db7dca9686523b035a"></a>
PointCloudConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_data_container.html#ad4ea9078a12ea9db7dca9686523b035a">getInputTarget</a> ()</td></tr>
<tr class="memdesc:ad4ea9078a12ea9db7dca9686523b035a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the input point cloud dataset target. <br /></td></tr>
<tr class="separator:ad4ea9078a12ea9db7dca9686523b035a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac52d24a2964c4d9f2864f19001a6455a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_data_container.html#ac52d24a2964c4d9f2864f19001a6455a">setSearchMethodTarget</a> (const KdTreePtr &amp;tree, bool force_no_recompute=false)</td></tr>
<tr class="memdesc:ac52d24a2964c4d9f2864f19001a6455a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the search object used to find correspondences in the target cloud.  <a href="classpcl_1_1registration_1_1_data_container.html#ac52d24a2964c4d9f2864f19001a6455a">更多...</a><br /></td></tr>
<tr class="separator:ac52d24a2964c4d9f2864f19001a6455a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad1e5d5043fdb51a75a6e8840ca586654"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_data_container.html#ad1e5d5043fdb51a75a6e8840ca586654">setInputNormals</a> (const NormalsConstPtr &amp;normals)</td></tr>
<tr class="memdesc:ad1e5d5043fdb51a75a6e8840ca586654"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the normals computed on the input point cloud  <a href="classpcl_1_1registration_1_1_data_container.html#ad1e5d5043fdb51a75a6e8840ca586654">更多...</a><br /></td></tr>
<tr class="separator:ad1e5d5043fdb51a75a6e8840ca586654"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a865e0487cb00c9afab0a01ac6ef5df8e"><td class="memItemLeft" align="right" valign="top"><a id="a865e0487cb00c9afab0a01ac6ef5df8e"></a>
NormalsConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_data_container.html#a865e0487cb00c9afab0a01ac6ef5df8e">getInputNormals</a> ()</td></tr>
<tr class="memdesc:a865e0487cb00c9afab0a01ac6ef5df8e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the normals computed on the input point cloud <br /></td></tr>
<tr class="separator:a865e0487cb00c9afab0a01ac6ef5df8e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8a19ad4c6068ec123698fbd051957b6d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_data_container.html#a8a19ad4c6068ec123698fbd051957b6d">setTargetNormals</a> (const NormalsConstPtr &amp;normals)</td></tr>
<tr class="memdesc:a8a19ad4c6068ec123698fbd051957b6d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the normals computed on the target point cloud  <a href="classpcl_1_1registration_1_1_data_container.html#a8a19ad4c6068ec123698fbd051957b6d">更多...</a><br /></td></tr>
<tr class="separator:a8a19ad4c6068ec123698fbd051957b6d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4a042aaf54c97e65810b7dc6bb3b9ede"><td class="memItemLeft" align="right" valign="top"><a id="a4a042aaf54c97e65810b7dc6bb3b9ede"></a>
NormalsConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_data_container.html#a4a042aaf54c97e65810b7dc6bb3b9ede">getTargetNormals</a> ()</td></tr>
<tr class="memdesc:a4a042aaf54c97e65810b7dc6bb3b9ede"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the normals computed on the target point cloud <br /></td></tr>
<tr class="separator:a4a042aaf54c97e65810b7dc6bb3b9ede"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abaa208c8d32f730fc3cb1346c34719b9"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_data_container.html#abaa208c8d32f730fc3cb1346c34719b9">getCorrespondenceScore</a> (int index)</td></tr>
<tr class="memdesc:abaa208c8d32f730fc3cb1346c34719b9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the correspondence score for a point in the input cloud  <a href="classpcl_1_1registration_1_1_data_container.html#abaa208c8d32f730fc3cb1346c34719b9">更多...</a><br /></td></tr>
<tr class="separator:abaa208c8d32f730fc3cb1346c34719b9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ace6a7fb9e6347a506dbeb65c04ba4c28"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_data_container.html#ace6a7fb9e6347a506dbeb65c04ba4c28">getCorrespondenceScore</a> (const <a class="el" href="structpcl_1_1_correspondence.html">pcl::Correspondence</a> &amp;corr)</td></tr>
<tr class="memdesc:ace6a7fb9e6347a506dbeb65c04ba4c28"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the correspondence score for a given pair of correspondent points  <a href="classpcl_1_1registration_1_1_data_container.html#ace6a7fb9e6347a506dbeb65c04ba4c28">更多...</a><br /></td></tr>
<tr class="separator:ace6a7fb9e6347a506dbeb65c04ba4c28"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a47484422018ed7647910f999d0eeb0ed"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_data_container.html#a47484422018ed7647910f999d0eeb0ed">getCorrespondenceScoreFromNormals</a> (const <a class="el" href="structpcl_1_1_correspondence.html">pcl::Correspondence</a> &amp;corr)</td></tr>
<tr class="memdesc:a47484422018ed7647910f999d0eeb0ed"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the correspondence score for a given pair of correspondent points based on the angle betweeen the normals. The normmals for the in put and target clouds must be set before using this function  <a href="classpcl_1_1registration_1_1_data_container.html#a47484422018ed7647910f999d0eeb0ed">更多...</a><br /></td></tr>
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</table><table class="memberdecls">
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Private 类型</h2></td></tr>
<tr class="memitem:a07823720ce18e15c5eef4f33e971d97c"><td class="memItemLeft" align="right" valign="top"><a id="a07823720ce18e15c5eef4f33e971d97c"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
<tr class="separator:a07823720ce18e15c5eef4f33e971d97c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7c709e5daa3beb277188e06eb2e893c0"><td class="memItemLeft" align="right" valign="top"><a id="a7c709e5daa3beb277188e06eb2e893c0"></a>
typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
<tr class="separator:a7c709e5daa3beb277188e06eb2e893c0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a87f31d2eec8b50bbb055d6af15d38621"><td class="memItemLeft" align="right" valign="top"><a id="a87f31d2eec8b50bbb055d6af15d38621"></a>
typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
<tr class="separator:a87f31d2eec8b50bbb055d6af15d38621"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a634b7dc19c35b623c4c82e259293f53a"><td class="memItemLeft" align="right" valign="top"><a id="a634b7dc19c35b623c4c82e259293f53a"></a>
typedef <a class="el" href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>KdTreePtr</b></td></tr>
<tr class="separator:a634b7dc19c35b623c4c82e259293f53a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a39528f6fad9866d3396bad0168e6cbea"><td class="memItemLeft" align="right" valign="top"><a id="a39528f6fad9866d3396bad0168e6cbea"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_normal.html">NormalT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Normals</b></td></tr>
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typedef Normals::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>NormalsPtr</b></td></tr>
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typedef Normals::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>NormalsConstPtr</b></td></tr>
<tr class="separator:a2cf3506451bf24d0bb014be0adb58406"><td class="memSeparator" colspan="2">&#160;</td></tr>
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Private 成员函数</h2></td></tr>
<tr class="memitem:a739a94d245d9b3ba95e7dafc1a224395"><td class="memItemLeft" align="right" valign="top"><a id="a739a94d245d9b3ba95e7dafc1a224395"></a>
const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_data_container.html#a739a94d245d9b3ba95e7dafc1a224395">getClassName</a> () const</td></tr>
<tr class="memdesc:a739a94d245d9b3ba95e7dafc1a224395"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a string representation of the name of this class. <br /></td></tr>
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Private 属性</h2></td></tr>
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PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_data_container.html#a711caa8a4b0aaae7e43c0bd905c93b7e">input_</a></td></tr>
<tr class="memdesc:a711caa8a4b0aaae7e43c0bd905c93b7e"><td class="mdescLeft">&#160;</td><td class="mdescRight">The input point cloud dataset <br /></td></tr>
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PointCloudPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_data_container.html#a756c8f22f8bbe1fd968a581b9e45769f">input_transformed_</a></td></tr>
<tr class="memdesc:a756c8f22f8bbe1fd968a581b9e45769f"><td class="mdescLeft">&#160;</td><td class="mdescRight">The input transformed point cloud dataset <br /></td></tr>
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PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_data_container.html#a67c5b1ad7ba26bfa511987f8819362a4">target_</a></td></tr>
<tr class="memdesc:a67c5b1ad7ba26bfa511987f8819362a4"><td class="mdescLeft">&#160;</td><td class="mdescRight">The target point cloud datase. <br /></td></tr>
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NormalsConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_data_container.html#ab2e50ae09c0d26c70a694b8124c7a5ad">input_normals_</a></td></tr>
<tr class="memdesc:ab2e50ae09c0d26c70a694b8124c7a5ad"><td class="mdescLeft">&#160;</td><td class="mdescRight">Normals to the input point cloud <br /></td></tr>
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NormalsPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_data_container.html#a71ac041b199b2b4dbfdf312d7e8e3bf8">input_normals_transformed_</a></td></tr>
<tr class="memdesc:a71ac041b199b2b4dbfdf312d7e8e3bf8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Normals to the input point cloud <br /></td></tr>
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NormalsConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_data_container.html#a3fdb20d66bfae8af64e683eb10c81bf4">target_normals_</a></td></tr>
<tr class="memdesc:a3fdb20d66bfae8af64e683eb10c81bf4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Normals to the target point cloud <br /></td></tr>
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KdTreePtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_data_container.html#a7271d5efde0ebfa6febb51b4cf09fcf3">tree_</a></td></tr>
<tr class="memdesc:a7271d5efde0ebfa6febb51b4cf09fcf3"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the spatial search object. <br /></td></tr>
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<tr class="memitem:aabff9a4a09779abfeaaffbe31cc85f3d"><td class="memItemLeft" align="right" valign="top"><a id="aabff9a4a09779abfeaaffbe31cc85f3d"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_data_container.html#aabff9a4a09779abfeaaffbe31cc85f3d">class_name_</a></td></tr>
<tr class="memdesc:aabff9a4a09779abfeaaffbe31cc85f3d"><td class="mdescLeft">&#160;</td><td class="mdescRight">The name of the rejection method. <br /></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_data_container.html#a171c6415242c5342514381edfd9ff411">needs_normals_</a></td></tr>
<tr class="memdesc:a171c6415242c5342514381edfd9ff411"><td class="mdescLeft">&#160;</td><td class="mdescRight">Should the current data container use normals? <br /></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_data_container.html#a31ac9595e051e3fdb30c28bb66a726df">target_cloud_updated_</a></td></tr>
<tr class="memdesc:a31ac9595e051e3fdb30c28bb66a726df"><td class="mdescLeft">&#160;</td><td class="mdescRight">Variable that stores whether we have a new target cloud, meaning we need to pre-process it again. This way, we avoid rebuilding the kd-tree <br /></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_data_container.html#adebdeb3cbafeeae0bebc238eff4aee9c">force_no_recompute_</a></td></tr>
<tr class="memdesc:adebdeb3cbafeeae0bebc238eff4aee9c"><td class="mdescLeft">&#160;</td><td class="mdescRight">A flag which, if set, means the tree operating on the target cloud will never be recomputed <br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointT, typename NormalT = pcl::PointNormal&gt;<br />
class pcl::registration::DataContainer&lt; PointT, NormalT &gt;</h3>

<p><b><a class="el" href="classpcl_1_1registration_1_1_data_container.html">DataContainer</a></b> is a container for the input and target point clouds and implements the interface to compute correspondence scores between correspondent points in the input and target clouds </p>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="ace6a7fb9e6347a506dbeb65c04ba4c28"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ace6a7fb9e6347a506dbeb65c04ba4c28">&#9670;&nbsp;</a></span>getCorrespondenceScore() <span class="overload">[1/2]</span></h2>

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<div class="memtemplate">
template&lt;typename PointT , typename NormalT  = pcl::PointNormal&gt; </div>
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          <td class="memname">double <a class="el" href="classpcl_1_1registration_1_1_data_container.html">pcl::registration::DataContainer</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, <a class="el" href="structpcl_1_1_normal.html">NormalT</a> &gt;::getCorrespondenceScore </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_correspondence.html">pcl::Correspondence</a> &amp;&#160;</td>
          <td class="paramname"><em>corr</em></td><td>)</td>
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<p>Get the correspondence score for a given pair of correspondent points </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">corr</td><td>Correspondent points </td></tr>
  </table>
  </dd>
</dl>

<p>实现了 <a class="el" href="classpcl_1_1registration_1_1_data_container_interface.html">pcl::registration::DataContainerInterface</a>.</p>
<div class="fragment"><div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;        {</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;          <span class="comment">// Get the source and the target feature from the list</span></div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;          <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;src = <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a711caa8a4b0aaae7e43c0bd905c93b7e">input_</a>-&gt;points[corr.<a class="code" href="structpcl_1_1_correspondence.html#a1c5d6554ca02dd7aa34fa02f346e7399">index_query</a>];</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;          <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;tgt = <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a67c5b1ad7ba26bfa511987f8819362a4">target_</a>-&gt;points[corr.<a class="code" href="structpcl_1_1_correspondence.html#a5e5d2178826d203a755d37bfd317d701">index_match</a>];</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160; </div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;          <span class="keywordflow">return</span> ((src.getVector4fMap () - tgt.getVector4fMap ()).squaredNorm ());</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_data_container_html_a67c5b1ad7ba26bfa511987f8819362a4"><div class="ttname"><a href="classpcl_1_1registration_1_1_data_container.html#a67c5b1ad7ba26bfa511987f8819362a4">pcl::registration::DataContainer::target_</a></div><div class="ttdeci">PointCloudConstPtr target_</div><div class="ttdoc">The target point cloud datase.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:384</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_data_container_html_a711caa8a4b0aaae7e43c0bd905c93b7e"><div class="ttname"><a href="classpcl_1_1registration_1_1_data_container.html#a711caa8a4b0aaae7e43c0bd905c93b7e">pcl::registration::DataContainer::input_</a></div><div class="ttdeci">PointCloudConstPtr input_</div><div class="ttdoc">The input point cloud dataset</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:378</div></div>
<div class="ttc" id="astructpcl_1_1_correspondence_html_a1c5d6554ca02dd7aa34fa02f346e7399"><div class="ttname"><a href="structpcl_1_1_correspondence.html#a1c5d6554ca02dd7aa34fa02f346e7399">pcl::Correspondence::index_query</a></div><div class="ttdeci">int index_query</div><div class="ttdoc">Index of the query (source) point.</div><div class="ttdef"><b>Definition:</b> correspondence.h:61</div></div>
<div class="ttc" id="astructpcl_1_1_correspondence_html_a5e5d2178826d203a755d37bfd317d701"><div class="ttname"><a href="structpcl_1_1_correspondence.html#a5e5d2178826d203a755d37bfd317d701">pcl::Correspondence::index_match</a></div><div class="ttdeci">int index_match</div><div class="ttdoc">Index of the matching (target) point. Set to -1 if no correspondence found.</div><div class="ttdef"><b>Definition:</b> correspondence.h:63</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#abaa208c8d32f730fc3cb1346c34719b9">&#9670;&nbsp;</a></span>getCorrespondenceScore() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename NormalT  = pcl::PointNormal&gt; </div>
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      <table class="memname">
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          <td class="memname">double <a class="el" href="classpcl_1_1registration_1_1_data_container.html">pcl::registration::DataContainer</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, <a class="el" href="structpcl_1_1_normal.html">NormalT</a> &gt;::getCorrespondenceScore </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>index</em></td><td>)</td>
          <td></td>
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<p>Get the correspondence score for a point in the input cloud </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">index</td><td>index of the point in the input cloud </td></tr>
  </table>
  </dd>
</dl>

<p>实现了 <a class="el" href="classpcl_1_1registration_1_1_data_container_interface.html">pcl::registration::DataContainerInterface</a>.</p>
<div class="fragment"><div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;        {</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;          <span class="keywordflow">if</span> ( <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a31ac9595e051e3fdb30c28bb66a726df">target_cloud_updated_</a> &amp;&amp; !<a class="code" href="classpcl_1_1registration_1_1_data_container.html#adebdeb3cbafeeae0bebc238eff4aee9c">force_no_recompute_</a> )</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;          {</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;            <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a7271d5efde0ebfa6febb51b4cf09fcf3">tree_</a>-&gt;setInputCloud (<a class="code" href="classpcl_1_1registration_1_1_data_container.html#a67c5b1ad7ba26bfa511987f8819362a4">target_</a>);</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;          }</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;          std::vector&lt;int&gt; indices (1);</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;          std::vector&lt;float&gt; distances (1);</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;          <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1registration_1_1_data_container.html#a7271d5efde0ebfa6febb51b4cf09fcf3">tree_</a>-&gt;nearestKSearch (<a class="code" href="classpcl_1_1registration_1_1_data_container.html#a711caa8a4b0aaae7e43c0bd905c93b7e">input_</a>-&gt;points[index], 1, indices, distances))</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;            <span class="keywordflow">return</span> (distances[0]);</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;            <span class="keywordflow">return</span> (std::numeric_limits&lt;double&gt;::max ());</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_data_container_html_a31ac9595e051e3fdb30c28bb66a726df"><div class="ttname"><a href="classpcl_1_1registration_1_1_data_container.html#a31ac9595e051e3fdb30c28bb66a726df">pcl::registration::DataContainer::target_cloud_updated_</a></div><div class="ttdeci">bool target_cloud_updated_</div><div class="ttdoc">Variable that stores whether we have a new target cloud, meaning we need to pre-process it again....</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:406</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_data_container_html_a7271d5efde0ebfa6febb51b4cf09fcf3"><div class="ttname"><a href="classpcl_1_1registration_1_1_data_container.html#a7271d5efde0ebfa6febb51b4cf09fcf3">pcl::registration::DataContainer::tree_</a></div><div class="ttdeci">KdTreePtr tree_</div><div class="ttdoc">A pointer to the spatial search object.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:396</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_data_container_html_adebdeb3cbafeeae0bebc238eff4aee9c"><div class="ttname"><a href="classpcl_1_1registration_1_1_data_container.html#adebdeb3cbafeeae0bebc238eff4aee9c">pcl::registration::DataContainer::force_no_recompute_</a></div><div class="ttdeci">bool force_no_recompute_</div><div class="ttdoc">A flag which, if set, means the tree operating on the target cloud will never be recomputed</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:410</div></div>
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<a id="a47484422018ed7647910f999d0eeb0ed"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a47484422018ed7647910f999d0eeb0ed">&#9670;&nbsp;</a></span>getCorrespondenceScoreFromNormals()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename NormalT  = pcl::PointNormal&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">double <a class="el" href="classpcl_1_1registration_1_1_data_container.html">pcl::registration::DataContainer</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, <a class="el" href="structpcl_1_1_normal.html">NormalT</a> &gt;::getCorrespondenceScoreFromNormals </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_correspondence.html">pcl::Correspondence</a> &amp;&#160;</td>
          <td class="paramname"><em>corr</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
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<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
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<p>Get the correspondence score for a given pair of correspondent points based on the angle betweeen the normals. The normmals for the in put and target clouds must be set before using this function </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">corr</td><td>Correspondent points </td></tr>
  </table>
  </dd>
</dl>

<p>实现了 <a class="el" href="classpcl_1_1registration_1_1_data_container_interface.html">pcl::registration::DataContainerInterface</a>.</p>
<div class="fragment"><div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;        {</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;          <span class="comment">//assert ( (input_normals_-&gt;points.size () != 0) &amp;&amp; (target_normals_-&gt;points.size () != 0) &amp;&amp; &quot;Normals are not set for the input and target point clouds&quot;);</span></div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;          assert (<a class="code" href="classpcl_1_1registration_1_1_data_container.html#ab2e50ae09c0d26c70a694b8124c7a5ad">input_normals_</a> &amp;&amp; <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a3fdb20d66bfae8af64e683eb10c81bf4">target_normals_</a> &amp;&amp; <span class="stringliteral">&quot;Normals are not set for the input and target point clouds&quot;</span>);</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;          <span class="keyword">const</span> <a class="code" href="structpcl_1_1_normal.html">NormalT</a> &amp;src = <a class="code" href="classpcl_1_1registration_1_1_data_container.html#ab2e50ae09c0d26c70a694b8124c7a5ad">input_normals_</a>-&gt;points[corr.<a class="code" href="structpcl_1_1_correspondence.html#a1c5d6554ca02dd7aa34fa02f346e7399">index_query</a>];</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;          <span class="keyword">const</span> <a class="code" href="structpcl_1_1_normal.html">NormalT</a> &amp;tgt = <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a3fdb20d66bfae8af64e683eb10c81bf4">target_normals_</a>-&gt;points[corr.<a class="code" href="structpcl_1_1_correspondence.html#a5e5d2178826d203a755d37bfd317d701">index_match</a>];</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;          <span class="keywordflow">return</span> (<span class="keywordtype">double</span> ((src.normal[0] * tgt.normal[0]) + (src.normal[1] * tgt.normal[1]) + (src.normal[2] * tgt.normal[2])));</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_data_container_html_a3fdb20d66bfae8af64e683eb10c81bf4"><div class="ttname"><a href="classpcl_1_1registration_1_1_data_container.html#a3fdb20d66bfae8af64e683eb10c81bf4">pcl::registration::DataContainer::target_normals_</a></div><div class="ttdeci">NormalsConstPtr target_normals_</div><div class="ttdoc">Normals to the target point cloud</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:393</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_data_container_html_ab2e50ae09c0d26c70a694b8124c7a5ad"><div class="ttname"><a href="classpcl_1_1registration_1_1_data_container.html#ab2e50ae09c0d26c70a694b8124c7a5ad">pcl::registration::DataContainer::input_normals_</a></div><div class="ttdeci">NormalsConstPtr input_normals_</div><div class="ttdoc">Normals to the input point cloud</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:387</div></div>
<div class="ttc" id="astructpcl_1_1_normal_html"><div class="ttname"><a href="structpcl_1_1_normal.html">pcl::Normal</a></div><div class="ttdoc">A point structure representing normal coordinates and the surface curvature estimate....</div><div class="ttdef"><b>Definition:</b> point_types.hpp:779</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a4b1172f7c0c0fecfdde3a1e47ecb0050">&#9670;&nbsp;</a></span>setInputCloud()</h2>

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<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename NormalT  = pcl::PointNormal&gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_data_container.html">pcl::registration::DataContainer</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, <a class="el" href="structpcl_1_1_normal.html">NormalT</a> &gt;::setInputCloud </td>
          <td>(</td>
          <td class="paramtype">const PointCloudConstPtr &amp;&#160;</td>
          <td class="paramname"><em>cloud</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
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<p>Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. <br  />
 </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>a cloud containing XYZ data </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;{</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <span class="comment">//input_ = cloud;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a8882a16f05489b2c3c8d8a27584c4bf2">setInputSource</a> (cloud);</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_data_container_html_a8882a16f05489b2c3c8d8a27584c4bf2"><div class="ttname"><a href="classpcl_1_1registration_1_1_data_container.html#a8882a16f05489b2c3c8d8a27584c4bf2">pcl::registration::DataContainer::setInputSource</a></div><div class="ttdeci">void setInputSource(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence dis...</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:267</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#ad1e5d5043fdb51a75a6e8840ca586654">&#9670;&nbsp;</a></span>setInputNormals()</h2>

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<div class="memtemplate">
template&lt;typename PointT , typename NormalT  = pcl::PointNormal&gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_data_container.html">pcl::registration::DataContainer</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, <a class="el" href="structpcl_1_1_normal.html">NormalT</a> &gt;::setInputNormals </td>
          <td>(</td>
          <td class="paramtype">const NormalsConstPtr &amp;&#160;</td>
          <td class="paramname"><em>normals</em></td><td>)</td>
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<p>Set the normals computed on the input point cloud </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">normals</td><td>the normals computed for the input cloud </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;{ <a class="code" href="classpcl_1_1registration_1_1_data_container.html#ab2e50ae09c0d26c70a694b8124c7a5ad">input_normals_</a> = normals; }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a8882a16f05489b2c3c8d8a27584c4bf2">&#9670;&nbsp;</a></span>setInputSource()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename NormalT  = pcl::PointNormal&gt; </div>
<table class="mlabels">
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          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_data_container.html">pcl::registration::DataContainer</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, <a class="el" href="structpcl_1_1_normal.html">NormalT</a> &gt;::setInputSource </td>
          <td>(</td>
          <td class="paramtype">const PointCloudConstPtr &amp;&#160;</td>
          <td class="paramname"><em>cloud</em></td><td>)</td>
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        </tr>
      </table>
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<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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</div><div class="memdoc">

<p>Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. <br  />
 </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>a cloud containing XYZ data </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;        {</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a711caa8a4b0aaae7e43c0bd905c93b7e">input_</a> = cloud;</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;        }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a4b79fcde4a6751834220166377231b8f">&#9670;&nbsp;</a></span>setInputTarget()</h2>

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<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename NormalT  = pcl::PointNormal&gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_data_container.html">pcl::registration::DataContainer</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, <a class="el" href="structpcl_1_1_normal.html">NormalT</a> &gt;::setInputTarget </td>
          <td>(</td>
          <td class="paramtype">const PointCloudConstPtr &amp;&#160;</td>
          <td class="paramname"><em>target</em></td><td>)</td>
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        </tr>
      </table>
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<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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<p>Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. <br  />
 </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">target</td><td>a cloud containing XYZ data </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;        {</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a67c5b1ad7ba26bfa511987f8819362a4">target_</a> = target;</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a31ac9595e051e3fdb30c28bb66a726df">target_cloud_updated_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;        }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ac52d24a2964c4d9f2864f19001a6455a">&#9670;&nbsp;</a></span>setSearchMethodTarget()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename NormalT  = pcl::PointNormal&gt; </div>
<table class="mlabels">
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  <td class="mlabels-left">
      <table class="memname">
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          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_data_container.html">pcl::registration::DataContainer</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, <a class="el" href="structpcl_1_1_normal.html">NormalT</a> &gt;::setSearchMethodTarget </td>
          <td>(</td>
          <td class="paramtype">const KdTreePtr &amp;&#160;</td>
          <td class="paramname"><em>tree</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>force_no_recompute</em> = <code>false</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<p>Provide a pointer to the search object used to find correspondences in the target cloud. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">tree</td><td>a pointer to the spatial search object. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">force_no_recompute</td><td>If set to true, this tree will NEVER be recomputed, regardless of calls to setInputTarget. Only use if you are confident that the tree will be set correctly. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;        { </div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a7271d5efde0ebfa6febb51b4cf09fcf3">tree_</a> = tree; </div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;          <span class="keywordflow">if</span> (force_no_recompute)</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;          {</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;            <a class="code" href="classpcl_1_1registration_1_1_data_container.html#adebdeb3cbafeeae0bebc238eff4aee9c">force_no_recompute_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;          }</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a31ac9595e051e3fdb30c28bb66a726df">target_cloud_updated_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;        }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a8a19ad4c6068ec123698fbd051957b6d">&#9670;&nbsp;</a></span>setTargetNormals()</h2>

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template&lt;typename PointT , typename NormalT  = pcl::PointNormal&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_data_container.html">pcl::registration::DataContainer</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, <a class="el" href="structpcl_1_1_normal.html">NormalT</a> &gt;::setTargetNormals </td>
          <td>(</td>
          <td class="paramtype">const NormalsConstPtr &amp;&#160;</td>
          <td class="paramname"><em>normals</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
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<p>Set the normals computed on the target point cloud </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">normals</td><td>the normals computed for the input cloud </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;{ <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a3fdb20d66bfae8af64e683eb10c81bf4">target_normals_</a> = normals; }</div>
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<hr/>该类的文档由以下文件生成:<ul>
<li>registration/include/pcl/registration/<a class="el" href="correspondence__rejection_8h_source.html">correspondence_rejection.h</a></li>
<li>registration/include/pcl/registration/impl/<a class="el" href="correspondence__rejection_8hpp_source.html">correspondence_rejection.hpp</a></li>
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